| contributor author | A. Bazaei | |
| contributor author | M. Moallem | |
| date accessioned | 2017-05-09T00:42:56Z | |
| date available | 2017-05-09T00:42:56Z | |
| date copyright | November, 2011 | |
| date issued | 2011 | |
| identifier issn | 0022-0434 | |
| identifier other | JDSMAA-26565#061016_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/145652 | |
| description abstract | In this paper, we study friction characteristics of a constrained planar single-link arm in applications, where control of the end-point interaction force is required. The objective is to improve performance of a force control system by developing an adequate friction model. It is shown that hub friction increases with the applied force with the end-point force exhibiting significant hysteresis behavior. A friction model is presented for capturing these phenomena and compared with the widely used LuGre friction model. Effectiveness of the proposed model for friction compensation is further examined on an experimental force control system testbed. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Friction Hysteresis Modeling and Force Control in a Constrained Single-link Arm | |
| type | Journal Paper | |
| journal volume | 133 | |
| journal issue | 6 | |
| journal title | Journal of Dynamic Systems, Measurement, and Control | |
| identifier doi | 10.1115/1.4004580 | |
| journal fristpage | 61016 | |
| identifier eissn | 1528-9028 | |
| keywords | Friction | |
| keywords | Force AND Force control | |
| tree | Journal of Dynamic Systems, Measurement, and Control:;2011:;volume( 133 ):;issue: 006 | |
| contenttype | Fulltext | |